IRI ROS Specific Algorithm Class. More...

#include <force_robot_companion_alg_node.h>

Inheritance diagram for ForceRobotCompanionAlgNode:

Public Member Functions
	ForceRobotCompanionAlgNode (void)
	Constructor.
	~ForceRobotCompanionAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Private Member Functions
void	clear_force_markers ()
void	dest_callback (const geometry_msgs::PoseStamped::ConstPtr &msg)
void	init_node ()
void	joy_callback (const sensor_msgs::Joy::ConstPtr &msg)
void	laser_callback (const sensor_msgs::LaserScan::ConstPtr &msg)
void	move_baseActive ()
void	move_baseDone (const actionlib::SimpleClientGoalState &state, const move_base_msgs::MoveBaseResultConstPtr &result)
void	move_baseFeedback (const move_base_msgs::MoveBaseFeedbackConstPtr &feedback)
void	move_baseMakeActionRequest ()
void	tracks_callback (const iri_perception_msgs::peopleTrackingArray::ConstPtr &msg)
void	vis_destinations ()
void	vis_intentionality_prediction ()
void	vis_predictions ()
void	vis_trajectories ()
Private Attributes
std_msgs::Float64	angle_robot_person_msg_
ros::Publisher	angle_robot_person_publisher_
visualization_msgs::Marker	dest_marker_
CMutex	dest_mutex_
ros::Subscriber	dest_subscriber_
string	destination_map_path_
ros::Publisher	destinations_publisher_
Sforce	f1_
Sforce	f2_
Sforce	f3_
Sforce	f4_
Sforce	f5_
Sforce	f_
visualization_msgs::Marker	force_goal2_marker_
visualization_msgs::Marker	force_goal_marker_
visualization_msgs::Marker	force_int_person_marker_
visualization_msgs::Marker	force_int_robot_marker_
string	force_map_path_
visualization_msgs::Marker	force_marker_
visualization_msgs::Marker	force_obstacle_laser_marker_
visualization_msgs::Marker	force_obstacle_map_marker_
geometry_msgs::PointStamped	force_param_msg_
ros::Publisher	force_param_publisher_
ros::Publisher	forces_publisher_
CMutex	joy_mutex_
ros::Subscriber	joy_subscriber_
CMutex	laser_mutex_
double	laser_radi_
ros::Subscriber	laser_subscriber_
visualization_msgs::MarkerArray	MarkerArray_destinations_msg_
visualization_msgs::MarkerArray	MarkerArray_forces_msg_
visualization_msgs::MarkerArray	MarkerArray_predictions_msg_
visualization_msgs::MarkerArray	MarkerArray_trajectories_msg_
actionlib::SimpleActionClient < move_base_msgs::MoveBaseAction >	move_base_client_
move_base_msgs::MoveBaseGoal	move_base_goal_
bool	move_base_mode_
int	nearest_target_
float	node_hz_
double	param_f1_
double	param_f2_
double	param_f3_
std_msgs::Float64	person_robot_dist_msg_
ros::Publisher	person_robot_dist_publisher_
Cforce_reactive_robot_companion	pred_
visualization_msgs::Marker	pred_marker_
ros::Publisher	predictions_publisher_
std::vector< int >	prev_buttons_
bool	ready_to_read_laser_
SpointV_cov	robot_desired_position_
std::string	robot_frame_
visualization_msgs::Marker	robot_marker_
geometry_msgs::PointStamped	robot_position_msg_
ros::Publisher	robot_position_publisher_
bool	robot_sim_
bool	robot_stop_
double	robot_x_ini_
double	robot_y_ini_
SpointV_cov	target_followed_pose_
std::string	target_frame_
visualization_msgs::Marker	target_marker_
geometry_msgs::PointStamped	target_person_position_msg_
ros::Publisher	target_person_position_publisher_
visualization_msgs::Marker	text_marker_
tf::TransformListener	tf_laser_listener_
tf::TransformListener	tf_listener_
CMutex	tracks_mutex_
ros::Subscriber	tracks_subscriber_
visualization_msgs::Marker	traj_marker_
visualization_msgs::Marker	traj_robot_marker_
ros::Publisher	trajectories_publisher_
geometry_msgs::Twist	Twist_msg_
bool	using_prediction_
ros::Publisher	velocity_publisher_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 60 of file force_robot_companion_alg_node.h.

Constructor & Destructor Documentation

ForceRobotCompanionAlgNode::ForceRobotCompanionAlgNode ( void )

Constructor.

This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.

Definition at line 9 of file force_robot_companion_alg_node.cpp.

ForceRobotCompanionAlgNode::~ForceRobotCompanionAlgNode ( void )

Destructor.

This destructor frees all necessary dynamic memory allocated within this this class.

Definition at line 59 of file force_robot_companion_alg_node.cpp.

Member Function Documentation

void ForceRobotCompanionAlgNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this abstract function additional ROS diagnostics applied to the specific algorithms may be added.

Implements algorithm_base::IriBaseAlgorithm< ForceRobotCompanionAlgorithm >.

Definition at line 1128 of file force_robot_companion_alg_node.cpp.

void ForceRobotCompanionAlgNode::clear_force_markers ( ) [private]

Definition at line 610 of file force_robot_companion_alg_node.cpp.

void ForceRobotCompanionAlgNode::dest_callback ( const geometry_msgs::PoseStamped::ConstPtr & msg ) [private]

Definition at line 839 of file force_robot_companion_alg_node.cpp.

void ForceRobotCompanionAlgNode::init_node ( ) [private]

Definition at line 168 of file force_robot_companion_alg_node.cpp.

void ForceRobotCompanionAlgNode::joy_callback ( const sensor_msgs::Joy::ConstPtr & msg ) [private]

Definition at line 852 of file force_robot_companion_alg_node.cpp.

void ForceRobotCompanionAlgNode::laser_callback ( const sensor_msgs::LaserScan::ConstPtr & msg ) [private]

Definition at line 764 of file force_robot_companion_alg_node.cpp.

void ForceRobotCompanionAlgNode::mainNodeThread ( void ) [protected, virtual]

main node thread

This is the main thread node function. Code written here will be executed in every node loop while the algorithm is on running state. Loop frequency can be tuned by modifying loop_rate attribute.

Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.

Implements algorithm_base::IriBaseAlgorithm< ForceRobotCompanionAlgorithm >.

Definition at line 65 of file force_robot_companion_alg_node.cpp.

void ForceRobotCompanionAlgNode::move_baseActive ( ) [private]

Definition at line 1026 of file force_robot_companion_alg_node.cpp.

void ForceRobotCompanionAlgNode::move_baseDone	(	const actionlib::SimpleClientGoalState &	state,
		const move_base_msgs::MoveBaseResultConstPtr &	result
	)		`[private]`

Definition at line 1016 of file force_robot_companion_alg_node.cpp.

void ForceRobotCompanionAlgNode::move_baseFeedback ( const move_base_msgs::MoveBaseFeedbackConstPtr & feedback ) [private]

Definition at line 1031 of file force_robot_companion_alg_node.cpp.

void ForceRobotCompanionAlgNode::move_baseMakeActionRequest ( ) [private]

Definition at line 1049 of file force_robot_companion_alg_node.cpp.

void ForceRobotCompanionAlgNode::node_config_update	(	Config &	config,
		uint32_t	level
	)		`[protected, virtual]`

dynamic reconfigure server callback

This method is called whenever a new configuration is received through the dynamic reconfigure. The derivated generic algorithm class must implement it.

Parameters:

config	an object with new configuration from all algorithm parameters defined in the config file.
level	integer referring the level in which the configuration has been changed.

Implements algorithm_base::IriBaseAlgorithm< ForceRobotCompanionAlgorithm >.

Definition at line 1071 of file force_robot_companion_alg_node.cpp.

void ForceRobotCompanionAlgNode::tracks_callback ( const iri_perception_msgs::peopleTrackingArray::ConstPtr & msg ) [private]

Definition at line 924 of file force_robot_companion_alg_node.cpp.

void ForceRobotCompanionAlgNode::vis_destinations ( ) [private]

Definition at line 649 of file force_robot_companion_alg_node.cpp.

void ForceRobotCompanionAlgNode::vis_intentionality_prediction ( ) [private]

Definition at line 621 of file force_robot_companion_alg_node.cpp.

void ForceRobotCompanionAlgNode::vis_predictions ( ) [private]

Definition at line 730 of file force_robot_companion_alg_node.cpp.

void ForceRobotCompanionAlgNode::vis_trajectories ( ) [private]

Definition at line 336 of file force_robot_companion_alg_node.cpp.